Robot cleaner, station and cleaning system

ABSTRACT

A cleaning system is provided. The cleaning system includes a robot cleaner and a station. The robot cleaner includes a pad fixing part on which a cleaning pad is detachably mounted, a lifter to lift a part of the robot cleaner at which the pad fixing part is positioned, and a pad detacher to detach the cleaning pad mounted on the pad fixing part. The station includes a pad storage box in which a cleaning pad that is to be provided to the robot cleaner is stored, a pad coupling part on which a cleaning pad that is to be coupled to the robot cleaner is rested, and a pad supplier to supply the cleaning pad stored in the pad storage box to the pad coupling part.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application is based on and claims priority under 35 U.S.C. § 119of a Korean patent application number 10-2018-0135196, filed on Nov. 6,2018, in the Korean Intellectual Property Office, the disclosure ofwhich is incorporated by reference herein in its entirety.

BACKGROUND 1. Field

The disclosure relates to a robot cleaner, a station and a cleaningsystem. More particularly, the disclosure relates to a robot cleaner onwhich a cleaning pad is mounted, a station and a cleaning system.

2. Description of Related Art

A robot cleaner is equipment that cleans the floor by autonomouslytraveling on an area to be cleaned without a user's operation andvacuuming or collecting foreign substances such as dust from the floor.The robot cleaner cleans an area to be cleaned while traveling on thearea to be cleaned.

During cleaning, the robot cleaner determines a distance to an obstacle,e.g., furniture, office appliances, walls, etc., existing in thecleaning area through a distance sensor, and selectively drives a leftwheel motor and a right wheel motor to thereby change its drivingdirection by itself to clean the cleaning area.

Recently, robot cleaners that wipe off dust on the floor, in addition torobot cleaners that absorb foreign substances on the floor, have beendeveloped. In a typical robot cleaner, a pad is detachably attached tothe bottom of the robot cleaner by a Velcro or the like. When the padgets dirty and needs to be replaced with a new one, a userhimself/herself lifts the robot cleaner and lays or stands it to thenremove the dirty pad from the bottom of the robot cleaner and attach anew pad to the bottom of the robot cleaner.

The above information is presented as background information only toassist with an understanding of the disclosure. No determination hasbeen made, and no assertion is made, as to whether any of the abovemight be applicable as prior art with regard to the disclosure.

SUMMARY

Aspects of the disclosure are to address at least the above-mentionedproblems and/or disadvantages and to provide at least the advantagesdescribed below. Accordingly, an aspect of the disclosure is to providea cleaning system capable of automatically replacing a pad with a newone.

Another aspect of the disclosure is to provide a robot cleaner and acleaning system capable of automatically detaching or attaching a pad.

Another aspect of the disclosure is to provide a station and a cleaningsystem capable of automatically supplying a pad.

Additional aspects will be set forth in part in the description whichfollows and, in part, will be obvious from the description, or may belearned by practice of the presented embodiments.

In accordance with an aspect of the disclosure, a cleaning system isprovided. The cleaning system includes a robot cleaner and a station.The robot cleaner includes a pad fixing part on which a cleaning pad isdetachably mounted, a pad detacher to detach the cleaning pad mounted onthe pad fixing part, and a cleaner driver to drive the pad detacher. Thestation includes a pad storage box in which a cleaning pad that is to beprovided to the robot cleaner is stored, a pad coupling part on which acleaning pad that is to be coupled to the robot cleaner is rested, and apad supplier to supply the cleaning pad stored in the pad storage box tothe pad coupling part.

Each of the pad fixing part and the cleaning pad may include a magneticbody.

The robot cleaner may include a lifter to lift a part of the robotcleaner at which the pad fixing part is positioned. The lifter may bedriven by the cleaner driver, and the cleaner driver may include a linkactuator to transfer power to the lifter and the pad detacher.

The link actuator may be rotatably coupled to a cleaner housing of therobot cleaner, and the lifter may include a lift body rotatably coupledto the link actuator.

The cleaner housing of the robot cleaner may include a lift guide toguide a movement of the lifter.

The pad detacher may include a detacher holder fixed to the cleanerhousing of the robot cleaner, a detacher link rotatably coupled to thedetacher holder, wherein one end of the detacher link is pressed by thelink actuator and is rotatable by being pressed by the link actuator, adetacher rotatably coupled to the detacher holder, wherein one end ofthe detacher is pressed by the detacher link and is rotatable, and theother end of the detacher is rotatable in a direction in which thecleaning pad is detached from the pad fixing part.

When the link actuator rotates in a first direction, the detacher linkmay rotate in a second direction that is opposite to the firstdirection, and the detacher may rotate in the first direction by therotation of the detacher link to detach the cleaning pad from the padfixing part, and when the link actuator rotates in the second direction,the detacher link may rotate in the first direction, and the detachermay rotate in the second direction to be spaced away from the cleaningpad.

The cleaning system may further include a station driver to drive thepad supplier, wherein the pad supplier includes a push member that isdriven by the station driver to move a cleaning pad among a plurality ofcleaning pads stored in the pad storage box to the pad coupling part.

The station driver may include a station driving source, and aconnection member to transfer power generated by the station drivingsource to the push member, and the connection member may include a pushlink or a belt.

The station may further include a separating and supplying device tomove the cleaning pad among the plurality of cleaning pads stacked inthe pad storage box to a push position at which the push member is ableto push the cleaning pad.

The separating and supplying device may include a link support fixed toa station housing of the station, a pad link rotatably coupled to thelink support, a slider link to press one end of the pad link when theslider link is pressed by a slider positioned at one end of the pushmember, a pad separating member to move to a position of supporting,except for the cleaning pad moved to the push position among theplurality of cleaning pads stored in the pad storage box, a remainingcleaning pad of the cleaning pads, when the pad separating member ispressed by the other end of the pad link, and a pad locker to move to aposition of releasing a force supporting the cleaning pad moved to thepush position, when the pad separating member moves to the position ofsupporting the remaining cleaning pad among the plurality of cleaningpads stored in the pad storage box except for the cleaning pad moved tothe push position.

The separating and supplying device may include a locking leverconnecting the pad separating member with the pad locker such that thepad separating member interworks with the pad locker.

When the push member moves in an opposite direction of a direction inwhich the cleaning pad moves to the pad coupling part, the slider may beconfigured to press the slider link.

The separating and supplying device may further include a separatingelastic member to apply an elastic force to the pad separating member ina direction in which the pad separating member releases a forcesupporting the remaining cleaning pad except for the cleaning pad movedto the push position among the plurality of cleaning pads.

At both ends of the cleaning pad, a pad support may extend in adirection in which the plurality of cleaning pads are stacked in the padstorage box.

In accordance with another aspect of the disclosure, a robot cleaner isprovided. The robot cleaner includes a pad fixing part on which acleaning pad is detachably mounted, a pad detacher to detach thecleaning pad mounted on the pad fixing part, a cleaner driver configuredto drive the pad detacher, and at least one processor configured tocontrol the pad detacher and the cleaning driver.

Each of the pad fixing part and the cleaning pad may include a magneticbody.

The robot cleaner may further include a lifter to lift a part of therobot cleaner at which the pad fixing part is positioned, wherein thelifter may be driven by the cleaner driver, and wherein the cleanerdriver may include a link actuator to transfer power to the lifter andthe pad detacher.

In accordance with another aspect of the disclosure, a station isprovided. The station includes a pad storage box in which a plurality ofcleaning pads are stored, a pad coupling part to supply a cleaning padto a robot cleaner, and a pad supplier to move a cleaning pad among theplurality of cleaning pads stored in the pad storage box to the padcoupling part.

At both ends of each of the plurality of cleaning pads stored in the padstorage box, a pad support may extend in a direction in which theplurality of cleaning pads are stacked in the pad storage box.

Other aspects, advantages, and salient features of the disclosure willbecome apparent to those skilled in the art from the following detaileddescription, which, taken in conjunction with the annexed drawings,discloses various embodiments of the disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other aspects, features, and advantages of certainembodiments of the disclosure will become apparent from the followingdescription taken in conjunction with the accompanying drawings, inwhich:

FIG. 1 shows a state in which a robot cleaner of a cleaning system isspaced from a station according to an embodiment of the disclosure;

FIG. 2 shows a state in which the robot cleaner shown in FIG. 1 ispositioned at a station according to an embodiment of the disclosure;

FIG. 3 shows a cleaning pad that is mounted on the robot cleaner shownin FIG. 1 or stored in the station shown in FIG. 1 according to anembodiment of the disclosure;

FIG. 4 shows an inside of the robot cleaner shown in FIG. 1 according toan embodiment of the disclosure;

FIG. 5 shows a lifter and a link actuator of the robot cleaner shown inFIG. 4 according to an embodiment of the disclosure;

FIG. 6 shows a pad detacher and a link actuator of the robot cleanershown in FIG. 4 according to an embodiment of the disclosure;

FIG. 7 shows a cleaner driver of the robot cleaner shown in FIG. 4according to an embodiment of the disclosure;

FIG. 8 schematically shows a state in which a cleaning pad is mounted onthe robot cleaner shown in FIG. 4 according to an embodiment of thedisclosure;

FIG. 9 schematically shows a state in which a cleaning pad is detachedfrom the robot cleaner shown in FIG. 4 according to an embodiment of thedisclosure;

FIG. 10 is a control block diagram of the robot cleaner shown in FIG. 4according to an embodiment of the disclosure;

FIG. 11 shows an inside of the station shown in FIG. 1 according to anembodiment of the disclosure;

FIG. 12 is a top view showing an inside of the station shown in FIG. 11according to an embodiment of the disclosure;

FIG. 13 shows a separating and supplying device shown in FIGS. 11 and 12according to an embodiment of the disclosure;

FIG. 14 shows a pad supplier shown in FIGS. 11 and 12 according to anembodiment of the disclosure;

FIG. 15 shows a station driver shown in FIGS. 11 and 12 according to anembodiment of the disclosure;

FIG. 16 shows a state before the separating and supplying device shownin FIG. 13 provides a cleaning pad according to an embodiment of thedisclosure;

FIG. 17 is a top view showing a state in which the separating andsupplying device of the station shown in FIG. 11 provides a cleaning padamong a plurality of cleaning pads to a push position according to anembodiment of the disclosure;

FIG. 18 shows the separating and supplying device and the cleaning padin the state shown in FIG. 17 according to an embodiment of thedisclosure;

FIG. 19 shows a state in which a pad supplier of the station shown inFIG. 11 moves a cleaning pad to a pad coupling part according to anembodiment of the disclosure;

FIG. 20 is a control block diagram of the station shown in FIG. 11according to an embodiment of the disclosure;

FIG. 21 is a flowchart showing a process of automatically replacing acleaning pad with a new one in the robot cleaner shown in FIGS. 1 and 2according to an embodiment of the disclosure;

FIGS. 22, 23, 24, and 25 sequentially show operations of automaticallysupplying a cleaning pad to a robot cleaner in the station shown inFIGS. 1 and 2 according to various embodiments of the disclosure;

FIG. 26 shows an inside of a station according to an embodiment of thedisclosure;

FIG. 27 is a top view showing an inside of the station shown in FIG. 26according to an embodiment of the disclosure;

FIG. 28 shows a state in which a pad supplier of the station shown inFIG. 26 moves a cleaning pad to a pad coupling part according to anembodiment of the disclosure;

FIG. 29 shows a stacked state of a plurality of cleaning pads stored inthe station shown in FIG. 26 according to an embodiment of thedisclosure;

FIG. 30 shows an inside of a station according to another embodiment ofthe disclosure according to an embodiment of the disclosure;

FIG. 31 shows a side of the station shown in FIG. 30 according to anembodiment of the disclosure;

FIG. 32 shows an operation of providing a cleaning pad to a pad couplingpart in the station shown in FIG. 30 according to an embodiment of thedisclosure;

FIG. 33 shows an inside of a station according to an embodiment of thedisclosure;

FIG. 34 shows an operation of providing a cleaning pad to a pad couplingpart in the station shown in FIG. 33 according to an embodiment of thedisclosure;

FIG. 35 shows an inside of a station according to an embodiment of thedisclosure; and

FIG. 36 shows an operation of providing a cleaning pad to a pad couplingpart in the station shown in FIG. 35 according to an embodiment of thedisclosure.

Throughout the drawings, like reference numerals will be understood torefer to like parts, components, and structures.

DETAILED DESCRIPTION

The following description with reference to the accompanying drawings isprovided to assist in a comprehensive understanding of variousembodiments of the disclosure as defined by the claims and theirequivalents. It includes various specific details to assist in thatunderstanding but these are to be regarded as merely exemplary.Accordingly, those of ordinary skill in the art will recognize thatvarious changes and modifications of the various embodiments describedherein can be made without departing from the scope and spirit of thedisclosure. In addition, descriptions of well-known functions andconstructions may be omitted for clarity and conciseness.

The terms and words used in the following description and claims are notlimited to the bibliographical meanings, but, are merely used by theinventor to enable a clear and consistent understanding of thedisclosure. Accordingly, it should be apparent to those skilled in theart that the following description of various embodiments of thedisclosure is provided for illustration purpose only and not for thepurpose of limiting the disclosure as defined by the appended claims andtheir equivalents.

It is to be understood that the singular forms “a,” “an,” and “the”include plural referents unless the context clearly dictates otherwise.Thus, for example, reference to “a component surface” includes referenceto one or more of such surfaces.

It will be understood that when the terms “includes,” “comprises,”“including,” and/or “comprising,” when used in this specification,specify the presence of stated features, figures, operations,components, or combination thereof, but do not preclude the presence oraddition of one or more other features, figures, operations, components,members, or combinations thereof.

It will be understood that, although the terms “first,” “second,” etc.may be used herein to describe various components, these componentsshould not be limited by these terms. These terms are only used todistinguish one component from another. For example, a first componentcould be termed a second component, and, similarly, a second componentcould be termed a first component, without departing from the scope ofthe disclosure. As used herein, the term “and/or” includes any and allcombinations of one or more of associated listed items.

In the following description, the terms “upper side”, “lower side”,“front-rear direction”, etc. are defined based on the drawings, and theshapes and positions of the corresponding components are not limited bythe terms.

More specifically, as shown in FIG. 1 , a traveling direction of a robotcleaner 10 is defined as a front direction, and a rear direction, leftand right sides, and up and down sides may be defined based on the frontdirection.

Hereinafter, embodiments of the disclosure will be described in detailwith reference to the accompanying drawings.

FIG. 1 shows a state in which a robot cleaner of a cleaning system isspaced from a station according to an embodiment of the disclosure.

FIG. 2 shows a state in which the robot cleaner shown in FIG. 1 ispositioned at a station according to an embodiment of the disclosure.

FIG. 3 shows a cleaning pad that is mounted on the robot cleaner shownin FIG. 1 or stored in the station shown in FIG. 1 according to anembodiment of the disclosure.

Referring to FIGS. 1 to 3 , a cleaning system 1 may include a robotcleaner 10 that travels on a cleaning area to clean the cleaning area,and a station 20 configured to supply a cleaning pad 30 to the robotcleaner 10.

The robot cleaner 10 may include a cleaner housing 101 forming anaccommodating space therein, and a cleaner cover 102 covering an open,upper side of the cleaner housing 101. In an outer side surface of thecleaner housing 101, a cleaner handle 103 for enabling a user to gripthe robot cleaner 10 may be provided.

The station 20 may include a station housing 201 forming anaccommodating space therein, a pad storage box 202 positioned in thestation housing 201, and a pad coupling part 203 where the robot cleaner10 replaces a cleaning pad 30 with a new one.

In the pad storage box 202, an extra cleaning pad 30 that is to beprovided to the robot cleaner 10 may be stored.

The cleaning pad 30 may include a cleaning tissue 31 contacting a floorto clean the floor, and a pad body 32 on which the cleaning tissue 31 isfixed. The cleaning tissue 31 may clean the floor in a wet or dry state.

In the pad body 32, a tissue fixing part 33 may be provided to fix thecleaning tissue 31. More specifically, the tissue fixing part 33 mayenable the cleaning tissue 31 to be detachably mounted on the pad body32 in a Velcro type.

In the pad body 32, a cleaner coupling part 34 may be formed to becoupled to the robot cleaner 10. More specifically, the cleaner couplingpart 34 may include a magnetic body to be coupled to a fixing member 142provided in the robot cleaner 10 by a magnetic force. Meanwhile, thecleaner coupling part 34 may include an electromagnet to have a magneticforce as necessary.

In the pad body 32, a coupling groove 35 may be formed in which acoupling protrusion 143 of the robot cleaner 10 is inserted. When thecleaning pad 30 is mounted on the robot cleaner 10, the couplingprotrusion 143 may be inserted in the coupling groove 35. Due tocoupling of the coupling protrusion 143 with the coupling groove 35, thecleaning pad 30 may be prevented from being detached from the robotcleaner 10 by friction with the floor when the robot cleaner 10 travelshorizontally. That is, the coupling protrusion 143 and the couplinggroove 35 may prevent the cleaning pad 30 from being detached from therobot cleaner 10, even when a magnetic force generated between thecleaner coupling part 34 and the fixing member 142 is smaller than afriction force generated between the cleaning tissue 31 and the floor.

When the cleaning pad 30 needs to be replaced with a new one duringcleaning, the robot cleaner 10 may move to the station 20 to bepositioned at the pad coupling part 203.

FIG. 4 shows an inside of the robot cleaner shown in FIG. 1 according toan embodiment of the disclosure.

FIG. 5 shows a lifter and a link actuator of the robot cleaner shown inFIG. 4 according to an embodiment of the disclosure.

FIG. 6 shows a pad detacher and a link actuator of the robot cleanershown in FIG. 4 according to an embodiment of the disclosure.

FIG. 7 shows a cleaner driver of the robot cleaner shown in FIG. 4according to an embodiment of the disclosure.

Referring to FIGS. 4-7 , the robot cleaner 10 may include a movingdevice 104. The moving device 104 may move the robot cleaner 10. Themoving device 104 may include a wheel case 105 fixed inside the cleanerhousing 101, a wheel 106 rotatably installed in the wheel case 105, anda wheel driving device 107 for providing power for driving the wheel106. In FIG. 4 , two driving devices 107 are positioned at left andright sides of the robot cleaner 10. However, an arrangement of themoving device 104 is not limited to this.

The wheel driving device 107 may include a wheel driving source (notshown) for generating power, and a wheel power transfer member (notshown) for transferring the power generated by the wheel driving sourceto the wheel 106.

The robot cleaner 10 may include a lifter 110 configured to lift a partof the robot cleaner 10 at which a pad fixing part 140 is positioned, apad detacher 120 configured to detach the cleaning pad 30 from the robotcleaner 10, a cleaner driver 130 configured to drive the lifter 110 andthe pad detacher 120, and the pad fixing part 140 on which the cleaningpad 30 is detachably mounted.

The lifter 110 may lift a part of the robot cleaner 10 when the cleaningpad 30 is fixed to the pad fixing part 140 or detached from the padfixing part 140. The lifter 110 may be connected with a link actuator132 of the cleaner driver 130. A plurality of lifters 110 may beprovided.

The lifter 110 may include a lift body 111 rotatably connected with alift connector 136 of the link actuator 132, and a lift roller 112rotatably coupled to the lift body 111.

The lift body 111 may move in an up-down direction when the linkactuator 132 rotates. The lift body 111 may be guided by a lift guide101 a formed on a bottom of the cleaner housing 101 to move in theup-down direction.

The lift roller 112 may be rotatably coupled to a lower end of the liftbody 111. When the lifter 110 moves downward to lift the robot cleaner10, the lift roller 112 may contact the floor and support a part of therobot cleaner 10. When a part of the robot cleaner 10 is lifted, therobot cleaner 10 may move by a predetermined distance by the lift roller112.

The pad detacher 120 may detach the cleaning pad 30 mounted on the padfixing part 140 from the pad fixing part 140. The pad detacher 120 mayinclude a detacher holder 121 fixed to the cleaner housing 101, adetacher link 122 pressed by the link actuator 132 and being rotatable,and a detacher 123 pressed by the detacher link 122 and being rotatable.

The detacher holder 121 may rotatably support the detacher link 122 andthe detacher 123 while being fixed to the cleaner housing 101.

The detacher link 122 may be rotatably coupled to the detacher holder121. One end 122 a of the detacher link 122 may be pressed by the linkactuator 132. The one end 122 a of the detacher link 122 may extendtoward the link actuator 132. The other end 122 b of the detacher link122 may press the detacher 123 or be pressed by the detacher 123. Theother end 122 b of the detacher link 122 may extend toward the detacher123.

The detacher 123 may be rotatably coupled to the detacher holder 121.One end 123 a of the detacher 123 may be pressed by the detacher link122 or press the detacher link 122. The one end 123 a of the detacher123 may extend toward the detacher link 122. The other end 123 b of thedetacher 123 may press the cleaning pad 30 in a direction in which thecleaning pad 30 is detached from the pad fixing part 140. The other end123 b of the detacher 123 may extend toward the pad fixing part 140.

The pad detacher 120 may include a detacher elastic member 124. Thedetacher elastic member 124 may apply an elastic force to the detacher123 in a direction in which the detacher elastic member 124 does notpress the cleaning pad 30 mounted on the pad fixing part 140. When thedetacher link 122 is not pressed by the link actuator 132, the detacherelastic member 124 may apply an elastic force to the detacher 123 toreturn the detacher 123 and the detacher link 122 to their originalpositions.

The cleaner driver 130 may include a cleaner driving source 131, a linkactuator 132 connected with the lifter 110 and the pad detacher 120, acleaner power transfer member 133 for transferring power generated bythe cleaner driving source 131 to the link actuator 132, and a cleanerdriver cover 134 covering the cleaner power transfer member 133.

The cleaner driving source 131 may include a motor. The cleaner drivingsource 131 may generate power for driving the link actuator 132. Themotor of the cleaner driving source 131 may be rotatable forward andbackward.

The link actuator 132 may transfer power generated by the cleanerdriving source 131 to the lifter 110 and the pad detacher 120. The linkactuator 132 may be rotatably fixed to the cleaner housing 101. Morespecifically, the link actuator 132 may be rotatably coupled to thecleaner housing 101 by at least one link holder 135.

The link actuator 132 may include the lift connector 136 connected withthe lifter 110. The lift connector 136 may transfer a rotational forceof the link actuator 132 to the lifter 110. The lift connector 136 mayrotatably support the lifter 110. When the link actuator 132 rotates,the lifter 110 may move in the up-down direction.

The link actuator 132 may include a link pressing part 137 interferingwith the pad detacher 120. The link pressing part 137 may protrude topress the detacher link 122 of the pad detacher 120 when the linkactuator 132 rotates. The link pressing part 137 may transfer arotational force of the link actuator 132 to the detacher link 122.

The cleaner power transfer member 133 may include a plurality of gears133 a, 133 b, 133 c and 133 d. The cleaner power transfer member 133 mayinclude a first gear 133 a, a second gear 133 b, a third gear 133 c anda fourth gear 133 d to adjust a gear ratio to control a rotation speedof the link actuator 132. However, the number of gears included in thecleaner power transfer member 133 is not limited to this, and adifferent number of gears may be provided as necessary. The cleanerpower transfer member 133 may connect the link actuator 132 with thecleaner driving source 131.

The cleaner driver cover 134 may be fixed to the cleaner housing 101.The cleaner driver cover 134 may protect the cleaner power transfermember 133 against foreign materials.

The cleaner driver 130 may include the link holder 135 for rotatablyfixing the link actuator 132 at the cleaner housing 101. The link holder135 may rotatably support the link actuator 132.

The pad fixing part 140 may be positioned at a front end of the robotcleaner 10. The pad fixing part 140 may include a fixing body 141extending in a left-right direction, and the fixing member 142 coupledto the cleaner coupling part 34 of the cleaning pad 30.

The fixing body 141 may extend along the front end of the robot cleaner10. The fixing body 141 may extend in the same direction in which thecleaning pad 30 extends. The fixing body 141 may be fixed to the cleanerhousing 101.

The fixing member 142 may be positioned in the fixing body 141. Thefixing member 142 may include a magnet. Accordingly, the pad fixing part140 may fix the cleaning pad 30 by a magnetic force. Meanwhile, thefixing member 142 may include an electromagnet to have a magnetic forceas necessary.

FIG. 8 shows a state in which a cleaning pad is mounted on the robotcleaner shown in FIG. 4 according to an embodiment of the disclosure.

FIG. 9 shows a state in which a cleaning pad is detached from the robotcleaner shown in FIG. 4 according to an embodiment of the disclosure.

Referring to FIG. 8 , the robot cleaner 10 may clean the floor with thecleaning pad 30 fixed to the pad fixing part 140. When a degree ofcontamination of the cleaning pad 30 is higher than a reference value,the robot cleaner 10 may detach the cleaning pad 30 from the pad fixingpart 140 to receive a new cleaning pad 30.

Referring to FIG. 9 , power generated by the cleaner driving source 131may be transferred to the link actuator 132 by the cleaner powertransfer member 133. When the link actuator 132 receives the power androtates in a first direction (a counterclockwise direction in FIGS. 8and 9 ), the lifter 110 may move downward. When the lifter 110 movesdownward, a part of the robot cleaner 10 in which the pad fixing part140 is positioned may be lifted.

When the link actuator 132 rotates in the first direction, the detacherlink 122 of the pad detacher 120 may be pressed by the link pressingpart 137 of the link actuator 132 to rotate in a second direction (aclockwise direction in FIGS. 8 and 9 ) that is opposite to the firstdirection. When the detacher link 122 rotates in the second direction,the detacher 123 may rotate in the first direction. When the detacher123 rotates in the first direction, the other end 123 b of the detacher123 may press a part of the cleaning pad 30 in a direction in which thecleaning pad 30 is detached from the pad fixing part 140. A pressingforce applied by the detacher 123 may be set to be greater than amagnetic force between the pad fixing part 140 and the cleaning pad 30.The detacher 123 may be at a position at which the detacher 123 is ableto detach the cleaning pad 30 from the pad fixing part 140.

After the cleaning pad 30 is detached, the link actuator 132 may rotatein the second direction by the cleaner driving source 131 and thecleaner power transfer member 133. Accordingly, the lifter 110 may moveupward, and the part of the robot cleaner 10 in which the pad fixingpart 140 is positioned may fall.

When the link actuator 132 rotates in the second direction, the one end122 a of the detacher link 122 may be released from the pressure appliedby the link actuator 132. Because the detacher elastic member 124applies an elastic force to rotate the detacher 123 in the seconddirection, the detacher 123 may rotate in the second direction.Accordingly, the detacher link 122 may rotate in the first direction,and the cleaner robot 10 may become a state shown in FIG. 8 .

FIG. 10 is a control block diagram of the robot cleaner shown in FIG. 4according to an embodiment of the disclosure.

Referring to FIG. 10 , the robot cleaner 10 may include a cleanercontroller 108, a first cleaner sensor 109 a, and a second cleanersensor 109 b.

The cleaner controller 108 may receive information from the firstcleaner sensor 109 a and the second cleaner sensor 109 b, and drive themoving device 104 and the cleaner driver 130 as necessary. The cleanercontroller 108 may be a microcomputer (e.g., at least one processor).

The first cleaner sensor 109 a may acquire information required formovements of the robot cleaner 10. The first cleaner sensor 109 a may bea distance sensor or an infrared sensor for measuring distances betweenthe robot cleaner 10 and surrounding objects. The first cleaner sensor109 a may transfer the acquired information to the cleaner controller108.

The second cleaner sensor 109 b may measure a degree of contamination ofthe cleaning pad 30 mounted on the robot cleaner 10. The second cleanersensor 109 b may be positioned at the pad fixing part 140 to measure adegree of contamination of the cleaning pad 30. The second cleanersensor 109 b may transfer the acquired information to the cleanercontroller 108. The cleaner controller 108 may receive the information,and drive the moving device 104 and the cleaner driver 130 to perform atask of detaching the cleaning pad 30 from the pad fixing part 140.

In contrast, the second cleaner sensor 109 b may measure a cleaning timeof the robot cleaner 10. When the cleaning time of the robot cleaner 10elapses a predetermined cleaning time, the second cleaner sensor 109 bmay transfer information indicating that the cleaning time of the robotcleaner 10 elapses the predetermined cleaning time to the cleanercontroller 108. The cleaner controller 108 may receive the information,and drive the moving device 104 and the cleaner driver 130 to perform atask of detaching the cleaning pad 30 from the pad fixing part 140.

FIG. 11 shows an inside of the station shown in FIG. 1 according to anembodiment of the disclosure.

FIG. 12 is a top view showing the inside of the station shown in FIG. 11according to an embodiment of the disclosure.

FIG. 13 shows a separating and supplying device shown in FIGS. 11 and 12according to an embodiment of the disclosure.

FIG. 14 shows a pad supplier shown in FIGS. 11 and 12 according to anembodiment of the disclosure.

FIG. 15 shows a station driver shown in FIGS. 11 and 12 according to anembodiment of the disclosure.

Referring to FIGS. 11-14 , the station 20 may include a separating andsupplying device 210, a pad supplier 220, and a station driver 230,which are positioned inside the station housing 201.

The separating and supplying device 210 may move a cleaning pad 30 amonga plurality of cleaning pads 30 stacked in the pad storage box 202 to aposition at which a push member 221 is able to push the cleaning pad 30.

Referring to FIG. 13 , the separating and supplying device 210 mayinclude a slider link 211, a slider fixing part 212, a pad link 213, alink support 214, a pad separating member 215, a lever body 216, and apad locker 217.

The slider link 211 may be selectively pressed by a slider 223. Theslider link 211 may include a link protrusion 211 a protruding to beselectively pressed by a slider protrusion 223 a of the slider 223. Whenthe slider link 211 is pressed by the slider 223, the slider link 211may press one end of the pad link 213.

The slider fixing part 212 may be fixed to the station housing 201. Theslider fixing part 212 may support the slider link 211. The sliderfixing part 212 may include a link elastic member 212 a for applying anelastic force to the slider link 211 toward the slider 223. The sliderlink 211 may be elastically biased to the slider fixing part 212 in adirection toward the slider 223 by the link elastic member 212 a.

The pad link 213 may be rotatably coupled to the link support 214. Oneend 213 a of the pad link 213 may contact the slider link 211, and theother end 213 b of the pad link 213 may contact the pad separatingmember 215.

The one end 213 a of the pad link 213 may be supported by a supportelastic body 213 aa. The support elastic body 213 aa may press the oneend 213 a of the pad link 213 toward the slider 223.

The link support 214 may be fixed to the station housing 201. The linksupport 214 may rotatably support the pad link 213.

The pad separating member 215 may be pressed by the other end 213 b ofthe pad link 213. When the pad separating member 215 is pressed by thepad link 213, the pad separating member 215 may move to a position ofsupporting, except for a cleaning pad 30 a (see FIG. 16 ) which is thelowermost one among the plurality of cleaning pads 30 stored in the padstorage box 202, a remaining cleaning pad 30 b (see FIG. 16 ) of thecleaning pads 30. The pad separating member 215 may be coupled to thelever body 216 in such a way to be slidable with respect to the leverbody 216.

The pad separating member 215 may include an elastic fixing part 215 aconnected with a separating elastic member 215 aa. The separatingelastic member 215 aa may apply an elastic force to the pad separatingmember 215 in a direction in which the pad separating member 215releases a force supporting the remaining cleaning pad 30 b except forthe cleaning pad 30 a which is the lowermost one among the plurality ofcleaning pads 30.

“The lever body 216 may slidingly support the pad separating member 215and the pad locker 217. The lever body 216 may be fixed to the stationhousing 201. The lever body 216 may include a rotation restricting part219 for restricting a rotation range of the pad link 213. The rotationrestricting part 219 may support the other end 213 b of the pad link 213in a direction that is opposite to a direction of an elastic forceapplied to the pad separating member 215 by the separating elasticmember 215 aa.”

When the pad separating member 215 moves to the position of supportingthe remaining cleaning pad 30 b among the plurality of cleaning pads 30stored in the pad storage box 202 except for the cleaning pad 30 a whichis the lowermost one of the cleaning pads 30, the pad locker 217 maymove to a position of releasing a force supporting the lowermostcleaning pad 30 a. The pad locker 217 may be slidingly coupled to thelever body 216.

The separating and supplying device 210 may include a locking lever 218connecting the pad separating member 215 with the pad locker 217 suchthat the pad separating member 215 interworks with the pad locker 217.The locking lever 218 may be rotatably coupled to the lever body 216.

The pad supplier 220 may supply a cleaning pad 30 among the plurality ofcleaning pads 30 stored in the pad storage box 202 to the pad couplingpart 203.

Referring to FIG. 14 , the pad supplier 220 may include a push member221, a push slit 222, a slider 223, a push shaft 224, and a push fixingpart 225.

The push member 221 may move the cleaning pad 30 among the plurality ofcleaning pads 30 stored in the pad storage box 202 to the pad couplingpart 203 in which the robot cleaner 10 is positioned. The push member221 may extend along a longitudinal direction of the cleaning pad 30.The push member 221 may be connected with the station driver 230 to movethe cleaning pad 30 among the plurality of cleaning pads 30 stored inthe pad storage box 202 to the pad coupling part 203.

The push slit 222 may be formed in a part of the push member 221. Thepush slit 222 may convert a rotational motion of a push link 232 of thestation driver 230 into a linear motion of the push member 221. A pushinsertion part 232 a may be slidingly inserted in the push slit 222. Thepush slit 222 may guide a movement of the push insertion part 232 a.

The slider 223 may be positioned at both ends of the push member 221.The slider 223 may selectively press the slider link 211 of theseparating and supplying device 210. The slider 223 may include theslider protrusion 223 a that protrudes to selectively press the sliderlink 211. The slider 223 may slidingly move along the push shaft 224.

The push shaft 224 may be slidingly inserted in the slider 223. The pushshaft 224 may guide a movement in front-back direction of the pushmember 221. The push shaft 224 may extend in the front-back direction.

The push fixing part 225 may be fixed to the station housing 201. Thepush fixing part 225 may fix the push shaft 224.

According to the configuration, the push member 221 may move in thefront-back direction when the slider 223 positioned at the both endsmoves in the front-back direction along the push shaft 224.

The station driver 230 may drive the pad supplier 220.

Referring to FIG. 15 , the station driver 230 may include a stationdriving source 231, the push link 232, a station power transfer member233, and a station driver cover 234.

The station driving source 231 may include a motor. The station drivingsource 231 may generate power for driving the push link 232. The motorof the station driving source 231 may be rotatable forward and backward.

The push link 232 may receive power generated by the station drivingsource 231 from the station power transfer member 233. One end of thepush link 232 may be connected with the station power transfer member233 to become a center of rotation, and the other end of the push link232 may be slidingly coupled to the push slit 222. The push insertionpart 232 a may be positioned at the other end of the push link 232. Thepush insertion part 232 a may move in a state in which the pushinsertion part 232 a is inserted in the push slit 222. The pushinsertion part 232 a may convert a rotational motion of the push link232 to a linear motion of the push member 221. The push link 232 may beconsidered as a connection member in that the push link 232 connects thestation driving source 231 with the push member 221 together with thestation power transfer member 233.

The station power transfer member 233 may include a plurality of gears233 a and 233 b. The station power transfer member 233 may include afirst gear 233 a and a second gear 233 b for adjusting a gear ratio tocontrol a rotation speed of the push link 232. However, the number ofgears included in the station power transfer member 233 is not limitedto this, and a different number of gears may be provided as necessary.The station power transfer member 233 may connect the station drivingsource 231 with the push link 232.

The station driver cover 234 may be fixed to the station housing 201.The station driver cover 234 may accommodate the station power transfermember 233.

FIG. 16 shows a state before the separating and supplying device shownin FIG. 13 provides a cleaning pad according to an embodiment of thedisclosure.

FIG. 17 is a top view showing a state in which the separating andsupplying device of the station shown in FIG. 11 provides a cleaning padamong a plurality of cleaning pads to a push position according to anembodiment of the disclosure.

FIG. 18 shows the separating and supplying device and the cleaning padin the state shown in FIG. 17 according to an embodiment of thedisclosure.

FIG. 19 shows a state in which a pad supplier of the station shown inFIG. 11 moves a cleaning pad to a pad coupling part according to anembodiment of the disclosure.

Referring to FIG. 16 , when the station 20 does not supply a cleaningpad 30 to the robot cleaner 10, the pad locker 217 may support allcleaning pads 30 stored in the pad storage box 202.

Referring to FIGS. 17 and 18 , when the robot cleaner 10 is positionedat the pad coupling part 203 of the station 20 to receive a new cleaningpad 30 a, the station driver 230 may rotate the push link 232 in a thirddirection (a clockwise direction in FIG. 3 ). When the push link 232rotates in the third direction, the push member 221 may move backward,and the slider protrusion 223 a of the slider 223 may press the linkprotrusion 211 a of the slider link 211. When the one end 213 a of thepad link 213 is pressed by the slider link 211, the pad link 213 mayrotate so that the other end 213 b of the pad link 213 may press the padseparating member 215. Then, the pad separating member 215 may movetoward the cleaning pad 30. The locking lever 218 may rotate in a fifthdirection (a counterclockwise direction in FIG. 18 ) to move the padlocker 217 in a direction in which the pad locker 217 is spaced awayfrom the cleaning pad 30. Accordingly, the lowermost cleaning pad 30 amay be separated from the pad locker 217 to fall to a position at whichthe push member 221 is able to push the cleaning pad 30 a.

Referring to FIG. 19 , when the cleaning pad 30 a is located at theposition at which the cleaning pad 30 a is able to be pushed by the pushmember 221, the station driver 230 may rotate the push link 232 in afourth direction (a counterclockwise direction in FIG. 19 ). When thepush link 232 rotates in the fourth direction, the push member 221 maymove forward to move the cleaning pad 30 a to the pad coupling part 203.

FIG. 20 shows a control block diagram of the station shown in FIG. 11according to an embodiment of the disclosure.

Referring to FIG. 20 , the station 20 may include a station controller208 and a station sensor 209.

The station controller 208 may receive information from the stationsensor 209 to drive the station driver 230.

When the station sensor 209 determines that the robot cleaner 10 islocated at the pad coupling part 203 and the pad fixing part 140 islifted, the station sensor 209 may transfer information indicating thedetermined result to the station controller 208.

FIG. 21 is a flowchart showing a process of automatically replacing acleaning pad with a new one in the robot cleaner shown in FIGS. 1 and 2according to an embodiment of the disclosure.

FIGS. 22 to 25 sequentially show operations of automatically supplying acleaning pad to a robot cleaner in the station shown in FIGS. 1 and 2according to various embodiments of the disclosure.

Referring to FIGS. 21 and 25 , operations of the cleaning system 1 willbe described.

Referring to FIGS. 21 and 22 , a user may install a plurality ofcleaning pads 30 in advance in the station 20, in operation S101.Simultaneously, the robot cleaner 10 may perform cleaning.

During cleaning, the robot cleaner 10 may determine that a cleaning pad30 needs to be replaced with a new one, in operation S102. Morespecifically, the robot cleaner 10 may determine that a degree ofcontamination of the cleaning pad 30 is higher than a predetermineddegree of contamination, through the second cleaner sensor 109 b, orthat the robot cleaner 10 has performed cleaning for a predeterminedtime or more.

When the robot cleaner 10 determines that the cleaning pad 30 needs tobe replaced with a new one, the robot cleaner 10 may move to a positionspaced from the station 20. Then, the robot cleaner 10 may detach thecleaning pad 30, as shown in FIGS. 8 and 9 .

After the robot cleaner 10 detaches the cleaning pad 30, the robotcleaner 10 may move to the station 20, in operation S104.

Referring to FIG. 23 , the robot cleaner 10 may move to the pad couplingpart 203 of the station 20. The robot cleaner 10 may be positioned suchthat the pad fixing part 140 faces the pad coupling part 203 of thestation 20.

After the robot cleaner 10 moves to the pad coupling part 203, a part ofthe robot cleaner 10 in which the pad fixing part 140 is positioned maybe lifted by driving of the cleaner driver 130 and the lifter 110, inoperation S105.

At this time, the station 20 may detect the robot cleaner 10 positionedat the pad coupling part 203, and drive the station driver 230 toseparate a cleaning pad 30 a which is the lowermost one among theplurality of cleaning pads 30 from the cleaning pads 30 and to move thecleaning pad 30 a to a position at which the cleaning pad 30 a is ableto be pressed by the push member 221, as shown in FIGS. 17 and 18 , inoperation S106.

Referring to FIG. 24 , when the station 20 determines that the cleaningpad 30 a has been moved to the position at which the cleaning pad 30 ais able to be pressed by the push member 221, the station 20 may drivethe station driver 230 and the pad supplier 220 to cause the push member221 to move the cleaning pad 30 a to the pad coupling part 203, inoperation S107.

Referring to FIG. 25 , when the cleaning pad 30 a is positioned at thepad coupling part 203, the robot cleaner 10 may drive the cleaner driver130 and the lifter 110 to cause the lifter 110 to lower the part atwhich the pad fixing part 140 is positioned. Accordingly, the cleaningpad 30 a positioned at the pad coupling part 203 may be attached to therobot cleaner 10, in operation S108. The cleaning pad 30 a may becoupled to the pad fixing part 140 by a magnetic force. The couplingprotrusion 143 may be inserted in the coupling groove 35.

Thereafter, the robot cleaner 10 may continue to perform cleaning, inoperation S109.

During cleaning, the robot cleaner 10 may determine whether cleaning hasbeen completed, in operation S110.

When the robot cleaner 10 determines that cleaning has been completed,the robot cleaner 10 may stop operating.

Meanwhile, when the robot cleaner 10 determines that cleaning has notyet been completed, the robot cleaner 10 may determine whether thecleaning pad 30 needs to be replaced with a new one, in operation S201.When the robot cleaner 10 determines that the cleaning pad 30 does notneed to be replaced with a new one, the robot cleaner 10 may continue toperform cleaning. In contrast, when the robot cleaner 10 determines thatthe cleaning pad 30 needs to be replaced with a new one, the robotcleaner 10 may return to operation S103 of detaching the cleaning pad 30to sequentially perform a task of replacing the cleaning pad 30 with anew one.

According to the configuration, when the cleaning system 1 according toan embodiment of the disclosure performs cleaning in a wide cleaningspace, the cleaning system 1 may perform cleaning while automaticallyreplacing the cleaning pad 30 with a new one, resulting in a user'sconvenience.

FIG. 26 shows an inside of a station according to an embodiment of thedisclosure.

FIG. 27 is a top view showing the inside of the station shown in FIG. 26according to an embodiment of the disclosure.

FIG. 28 shows a state in which a pad supplier of the station shown inFIG. 26 moves a cleaning pad to a pad coupling part according to anembodiment of the disclosure.

FIG. 29 shows a stacked state of a plurality of cleaning pads stored inthe station shown in FIG. 26 according to an embodiment of thedisclosure.

Referring to FIGS. 26 to 28 , a station 40 according to variousembodiments of the disclosure may not include the separating andsupplying device 210, unlike the station 20 shown in FIG. 11 . Aconfiguration of the station driver 230 of the station 40 shown in FIG.26 may be the same as that of the station driver 230 of the station 20shown in FIG. 11 , and therefore, a detailed description thereof will beomitted.

A pad supplier 420 of the station 40 may include a push member 421. Thepush member 421 may include a push slit 422 in which one end of the pushlink 232 of the station driver 230 is slidingly inserted.

The pad supplier 420 may include a guide rail 426 positioned on an innerbottom surface of the station housing 201. The guide rail 426 may guidea movement in front-back direction of the push member 421. The guiderail 426 may extend in the front-back direction. The guide rail 426 maybe integrated into the station housing 201.

Referring to FIG. 29 , a cleaning pad 50 may include a cleaning tissue51 contacting a floor to clean the floor, and a pad body 52 on which thecleaning tissue 51 is fixed.

In the pad body 52, a cleaner coupling part 54 may be formed to becoupled to the robot cleaner 10. More specifically, the cleaner couplingpart 54 may include a magnetic body to be coupled to the fixing member142 provided in the robot cleaner 10 by a magnetic force. Meanwhile, thecleaner coupling part 54 may include an electromagnet to have a magneticforce as necessary.

In the pad body 52, a coupling groove 55 may be formed in which acoupling protrusion 143 of the robot cleaner 10 is inserted. When thecleaning pad 30 is attached to the robot cleaner 10, the couplingprotrusion 143 may be inserted in the coupling groove 55. Due tocoupling of the coupling protrusion 143 with the coupling groove 55, thecleaning pad 50 may be prevented from being detached from the robotcleaner 10 by friction with the floor when the robot cleaner 10 travelshorizontally. That is, the coupling protrusion 143 and the couplinggroove 55 may prevent the cleaning pad 50 from being detached from therobot cleaner 10, even when a magnetic force generated between thecleaner coupling part 54 and the fixing member 142 is smaller than afriction force generated between the cleaning tissue 51 and the floor.

The cleaning pad 50 may include a pad support 56 positioned at both endsin longitudinal direction of the pad body 52. The pad support 56 mayextend in the up-down direction. The pad support 56 may extend in adirection in which the plurality of cleaning pads 50 are stacked.

Although the station 40 according to another embodiment of thedisclosure does not include a separate configuration for moving acleaning pad 50 a which is the lowermost one of the cleaning pads 50 toa position at which the cleaning pad 50 a is able to be pushed by thepush member 421, a friction force between the cleaning pads 50 may bereduced because each of the cleaning pads 50 has the pad support 56.Therefore, the cleaning pads 50 may be moved sequentially to the padcoupling part 203 by the push member 421, starting from the lowermostcleaning pad 50 a.

That is, the cleaning pads 50 may be stacked starting from a position atwhich the cleaning pad 50 a is able to be pushed by the push member 421,unlike the cleaning pads 30 stacked in the station 20 shown in FIG. 11 .After the robot cleaner 10 moves to the pad coupling part 203, the pushmember 421 may move forward to move the cleaning pad 50 a which is thelowermost one among the cleaning pads 50 to the pad coupling part 203.At this time, the pad support 56 a of the lowermost cleaning pad 50 amay move while sliding on a pad support 56 b of a cleaning pad 50 bpositioned directly above the cleaning pad 50 a among the stackedcleaning pads 50 b. The cleaning pads 50 a and 50 b may contact eachother at the pad supports 56 a and 56 b, and accordingly, the cleaningpads 50 a and 50 b may contact each other at relatively small areas sothat a friction force is reduced. Accordingly, the lowermost cleaningpad 50 a may slide smoothly with respect to the stacked cleaning pads50.

Therefore, the station 40 according to another embodiment of thedisclosure may provide the cleaning pad 50 a among the plurality ofcleaning pads 50 to the pad coupling part 203 through a relativelysimple configuration.

FIG. 30 shows an inside of a station according to an embodiment of thedisclosure.

FIG. 31 shows a side of the station shown in FIG. 30 .

FIG. 32 shows an operation of providing a cleaning pad to a pad couplingpart in the station shown in FIG. 30 according to an embodiment of thedisclosure.

Referring to FIGS. 30 to 32 , a station 60 according to an embodiment ofthe disclosure may include a separating and supplying device 610, a padsupplier 620, and a station driver 630. The cleaning pad 30 shown inFIG. 3 may be applied to the station 60 shown in FIGS. 30 to 32 .

The separating and supplying device 610 may separate a cleaning pad 30 awhich is the lowermost one among a plurality of cleaning pads 30, andsupply the cleaning pad 30 a to a position at which the cleaning pad 30a is able to be pushed by a push member 621. The separating andsupplying device 610 may include a pad shaft 611, a pad shaft driver613, and a pad separating member 615.

The pad shaft 611 may rotate when the pad shaft driver 613 is driven.The pad separating member 615 may be positioned in at least one end ofthe pad shaft 611. The pad separating member 615 may rotate when the padshaft 611 rotates. The pad separating member 615 may include a pluralityof pad support ribs 615 a extending in a radial direction from arotation axis.

Referring to FIG. 31 , when the pad shaft 611 rotates by 90° by the padshaft driver 613, the cleaning pad 30 a except for the stacked cleaningpads 30 b among the cleaning pads 30 may be lowered.

When the station driver 630 is driven, the pad supplier 620 may move inthe front-back direction. The pad supplier 620 may include a push member621.

The push member 621 may support the cleaning pad 30 a separated by theseparating and supplying device 610. The push member 621 may support thecleaning pad 30 a, and move the cleaning pad 30 a to a pad coupling part603. The push member 621 may be fixed to a second belt 634.

The station driver 630 may move the pad supplier 620. The station driver630 may include a station driving source 631, a first belt 632, a firstbelt shaft 633, the second belt 634, and a second belt shaft 635. Thefirst belt 632, the first belt shaft 633, and the second belt 634 may beconsidered as connection members in that first belt 632, the first beltshaft 633, and the second belt 634 connect the push member 621 with thestation driving source 631.

The station driving source 631 may include a motor. The station drivingsource 631 may generate power for driving the push member 621. Thestation driving source 631 may be a motor that is rotatable forward andbackward.

The first belt 632 may be connected with the station driving source 631.The first belt 632 may receive power from the station driving source631. The first belt 632 may be coupled to the station driving source 631and the first belt shaft 633 to rotate.

The first belt shaft 633 may rotate when the first belt 632 rotates. Thefirst belt shaft 633 may receive power from the first belt 632. Thefirst belt shaft 633 may rotatably support the first belt 632 and thesecond belt 634.

The second belt 634 may be connected with the first belt shaft 633. Thesecond belt 634 may receive power from the first belt shaft 633. Aplurality of second belts 634 may be provided, and accordingly, thesecond belts 634 may be respectively connected with both ends of thefirst belt shaft 633. At a portion of the second belt 634, the pushmember 621 may be fixed. The second belt 634 may be coupled to the firstbelt shaft 633 and the second belt shaft 635 to rotate.

The second belt shaft 635 may rotate when the second belt 634 rotates. Aplurality of second belt shafts 635 may be provided, like the secondbelts 634. The second belt shaft 635 may rotatably support the secondbelt 634.

Referring to FIG. 32 , when the cleaning pad 30 a is located at aposition at which the cleaning pad 30 a is able to be pushed by the pushmember 621, by the separating and supplying device 610, the stationdriving source 631 may rotate the first belt 632. When the first belt632 rotates, the first belt shaft 633 may rotate. When the first beltshaft 633 rotates, the second belt 634 may rotate. When the second belt634 rotates, the push member 621 may support the cleaning pad 30 a andmove the cleaning pad 30 a to the pad coupling part 603. After the pushmember 621 moves the cleaning pad 30 a to the pad coupling part 603, thestation driving source 631 may rotate in the opposite direction toreturn the push member 621 to its initial position.

FIG. 33 shows an inside of a station according to an embodiment of thedisclosure, and FIG. 34 shows an operation of providing a cleaning padto a pad coupling part in the station shown in FIG. 33 according to anembodiment of the disclosure.

Referring to FIGS. 33 and 34 , a station 70 according to variousembodiments of the disclosure may not include a separating and supplyingdevice for separating a cleaning pad, unlike the station 40 shown inFIG. 25 . The cleaning pad 50 shown in FIG. 25 may be applied to thestation 70 shown in FIGS. 33 and 34 . The station 70 may include a padsupplier 720 and a station driver 730.

When the station driver 730 is driven, the pad supplier 720 may move inthe front-back direction. The pad supplier 720 may include a push member721.

The push member 721 may move a cleaning pad 50 a which is the lowermostone among a plurality of cleaning pads 50, except for the remainingcleaning pads 50 b, to a pad coupling part 703. Both ends of the pushmember 721 may be fixed to a second belt 734. The push member 721 mayinclude a push protrusion 721 a protruding toward the cleaning pad 50.

The station driver 730 may move the pad supplier 720. The station driver730 may include a station driving source 731, a first belt 732, a firstbelt shaft 733, the second belt 734, and a second belt shaft 735.Herein, the first belt 732, the first belt shaft 733, and the secondbelt 734 may be considered as connection members in that the first belt732, the first belt shaft 733, and the second belt 734 connect thestation driving source 731 with the push member 721.

The station driving source 731 may include a motor. The station drivingsource 731 may generate power for moving the push member 721. Thestation driving source 731 may be a motor that is rotatable forward andbackward.

The first belt 732 may be connected with the station driving source 731.The first belt 732 may receive power from the station driving source731. The first belt 732 may be coupled to the station driver 730 and thefirst belt shaft 733 to rotate.

The first belt shaft 733 may rotate when the first belt 732 rotates. Thefirst belt shaft 733 may receive power from the first belt 732. Thefirst belt shaft 733 may rotatably support the first belt 732 and thesecond belt 734.

The second belt 734 may be connected with the first belt shaft 733. Thesecond belt 734 may receive power from the first belt shaft 633. Aplurality of second belts 734 may be provided, and accordingly, thesecond belts 734 may be respectively connected with both ends of thefirst belt shaft 733. At a portion of the second belt 734, the pushmember 721 may be fixed. The second belt 734 may be coupled to the firstbelt shaft 733 and the second belt shaft 735 to rotate.

The second belt shaft 735 may rotate when the second belt 734 rotates. Aplurality of second belt shafts 735 may be provided, like the secondbelts 734. The second belt shaft 735 may rotatably support the secondbelt 734.

Referring to FIG. 34 , the station driving source 731 may rotate thefirst belt 732. When the first belt 732 rotates, the first belt shaft733 may rotate, and when the first belt shaft 733 rotates, the secondbelt 734 may rotate. When the second belt 734 rotates, the push member721 may push the cleaning pad 50 a toward the pad coupling part 703. Thestation 70 shown in FIG. 34 may not perform an operation of separating acleaning pad among the plurality of cleaning pads, unlike the station 60shown in FIG. 32 .

After the push member 721 moves the cleaning pad 50 a to the padcoupling part 703, the station driving source 731 may rotate in theopposite direction to return the push member 721 to its initialposition.

FIG. 35 shows an inside of a station according to an embodiment of thedisclosure, and FIG. 36 shows an operation of providing a cleaning padto a pad coupling part in the station shown in FIG. 35 according to anembodiment of the disclosure.

Referring to FIGS. 35 and 36 , a station 80 according to variousembodiments of the disclosure may not include a separating and supplyingdevice for separating a cleaning pad, like the station 40 shown in FIG.25 . The cleaning pad 50 shown in FIG. 25 may be applied to the station80 shown in FIGS. 35 and 36 . The station 80 may include a pad supplier820 and a station driver 830.

The pad supplier 820 may move in the front-back direction when thestation driver 830 is driven. The pad supplier 820 may include a pushmember 821. The push member 821 may include a first push link slit 821 ain which one end 834 aa of a first push link 834 a is slidinglyinserted, and a second push link slit 821 b in which one end 834 ba of asecond push link 834 b is slidingly inserted.

The push member 821 may move a cleaning pad 50 a which is the lowermostone among a plurality of cleaning pads 50, except for the remainingstacked cleaning pads 50 b, to the pad coupling part 803.

The station driver 830 may move the pad supplier 820. The station driver830 may include a station driving source 831, a driving shaft 832, apower conversion member 833, and a push link 834. Herein, the drivingshaft 832, the power conversion member 833, and the push link 834 may beconsidered as connection members in that the driving shaft 832, thepower conversion member 833, and the push link 834 connect the stationdriving source 831 with the push member 821.

The station driving source 831 may include a motor. The station drivingsource 831 may generate power for moving the push member 821. Thestation driving source 831 may be a motor which is rotatable forward andbackward.

The driving shaft 832 may extend along a direction in which a shaft ofthe station driving source 831 extends. The driving shaft 832 may rotatewhen the station driving source 831 rotates. In at least one part of anouter circumferential surface of the driving shaft 832, a thread may beformed.

The power conversion member 833 may be coupled to the driving shaft 832in such a way to correspond to the thread formed in the outercircumferential surface of the driving shaft 832. In an inside hole ofthe power conversion member 833, a thread may be formed to correspond tothe thread formed in the outer circumferential surface of the drivingshaft 832. The power conversion member 833 may convert a rotationalforce of the driving shaft 832 into a linear motion. When the drivingshaft 832 rotates, the power conversion member 833 may perform a linearmotion along a direction in which the driving shaft 832 extends. Thepower conversion member 833 may include a first power conversion member833 a for transferring power to the first push link 834 a, and a secondpower conversion member 833 b for transferring power to the second pushlink 834 b.

The push link 834 may receive power from the power conversion member 833and transfer the power to the push member 821. The push link 834 mayinclude the first push link 834 a rotatably connected with the firstpower conversion member 833 a, and the second push link 834 b rotatablyconnected with the second power conversion member 833 b.

The first push link 834 a and the second push link 834 b may berotatably coupled to a link connection shaft 835. The first push link834 a may be coupled to the second push link 834 b, like a pair ofscissors. The link connection shaft 835 may be movable in the front-backdirection.

Referring to FIG. 36 , the station driving source 831 may rotate thedriving shaft 832. When the driving shaft 832 rotates, the first powerconversion member 833 a and the second power conversion member 833 b maymove in a direction in which the first power conversion member 833 aapproaches the second power conversion member 833 b.

When the first power conversion member 833 a moves, the first push link834 a may rotate with respect to the link connection shaft 835, and oneend 834 aa of the first push link 834 a inserted in the first push linkslit 821 a may slide in the first push link slit 821 a to press the pushmember 821 toward the pad coupling part 803.

When the second power conversion member 833 b moves, the second pushlink 834 b may rotate with respect to the link connection shaft 835, andone end 834 ba of the second push link 834 b inserted in the first pushlink slit 821 b may slide in the second push link slit 821 b to pressthe push member 821 toward the pad coupling part 803. The station 80shown in FIG. 36 may not perform an operation of separating a cleaningpad from among a plurality of cleaning pads, unlike the station 60 shownin FIG. 32 .

After the push member 821 moves the cleaning pad 50 a to the padcoupling part 803, the station driving source 831 may rotate in theopposite direction to return the push member 821 to its initialposition.

According to a concept of the disclosure, the cleaning system may detacha pad of the robot cleaner automatically at a position at which therobot cleaner is spaced from the station, and, when the robot cleaner islocated at the station, the cleaning system may attach a padautomatically supplied from the station to the robot cleaner, resultingin an increase of user convenience.

According to a concept of the disclosure, the robot cleaner may attachor detach a pad automatically, resulting in an increase of userconvenience.

According to a concept of the disclosure, the station may supply a padautomatically, resulting in an increase of user convenience.

While the disclosure has been shown and described with reference tovarious embodiments thereof, it will be understood by those skilled inthe art that various changes inform and details may be made thereinwithout departing from the spirit and scope of the disclosure as definedby the appended claims and their equivalents.

What is claimed is:
 1. A cleaning system comprising: a robot cleanerincluding: a pad fixing part on which a cleaning pad is detachablymounted, a lifter to lift a part of the robot cleaner at which the padfixing part is positioned, a pad detacher to detach the cleaning padmounted on the pad fixing part, and a cleaner driver to drive the paddetacher; and a station including: a pad storage box in which a cleaningpad that is to be provided to the robot cleaner is stored, a padcoupling part on which a cleaning pad that is to be coupled to the robotcleaner is rested, a pad supplier to supply the cleaning pad stored inthe pad storage box to the pad coupling part, a station driver to drivethe pad supplier, the station driver comprising: a station drivingsource, and a connection member to transfer power generated by thestation driving source to the pad supplier.
 2. The cleaning systemaccording to claim 1, wherein each of the pad fixing part and thecleaning pad comprises a magnetic body.
 3. The cleaning system accordingto claim 1, wherein the lifter is driven by the cleaner driver, andwherein the cleaner driver comprises a link actuator to transfer powerto the lifter and the pad detacher.
 4. The cleaning system according toclaim 3, wherein the link actuator is rotatably coupled to a cleanerhousing of the robot cleaner, and wherein the lifter comprises a liftbody rotatably coupled to the link actuator.
 5. The cleaning systemaccording to claim 4, wherein the cleaner housing of the robot cleanercomprises a lift guide to guide a movement of the lifter.
 6. Thecleaning system according to claim 3, wherein the pad detachercomprises: a detacher holder fixed to a cleaner housing of the robotcleaner; a detacher link rotatably coupled to the detacher holder suchthat one end of the detacher link is rotatable by being pressed by thelink actuator; and a detacher rotatably coupled to the detacher holdersuch that one end of the detacher is rotatable by being pressed by thedetacher link and the other end of the detacher is rotatable in adirection in which the cleaning pad is detached from the pad fixingpart.
 7. The cleaning system according to claim 6, wherein, when thelink actuator rotates in a first direction, the detacher link rotates ina second direction that is opposite to the first direction, and thedetacher rotates in the first direction by the rotation of the detacherlink to detach the cleaning pad from the pad fixing part, and wherein,when the link actuator rotates in the second direction, the detacherlink rotates in the first direction, and the detacher rotates in thesecond direction to be spaced away from the cleaning pad.
 8. Thecleaning system according to claim 1, wherein the pad supplier comprisesa push member that is driven by the station driver to move a cleaningpad among a plurality of cleaning pads stored in the pad storage box tothe pad coupling part.
 9. The cleaning system according to claim 8,wherein the connection member includes at least one of a push link or abelt.
 10. The cleaning system according to claim 8, wherein the stationcomprises a separating and supplying device to move the cleaning padamong the plurality of cleaning pads stacked in the pad storage box to apush position at which the push member is able to push the cleaning pad.11. The cleaning system according to claim 10, wherein the separatingand supplying device comprises: a link support fixed to a stationhousing of the station; a pad link rotatably coupled to the linksupport; a slider link to press one end of the pad link when the sliderlink is pressed by a slider positioned at one end of the push member; apad separating member to move to a position of supporting a remainingcleaning pad except for the cleaning pad moved to the push positionamong the plurality of cleaning pads stored in the pad storage box whenthe pad separating member is pressed by the other end of the pad link;and a pad locker to move to a position of releasing the supporting onthe cleaning pad moved to the push position, when the pad separatingmember moves to the position of supporting the remaining cleaning padamong the plurality of cleaning pads stored in the pad storage boxexcept for the cleaning pad moved to the push position.
 12. The cleaningsystem according to claim 11, wherein the separating and supplyingdevice comprises a locking lever connecting the pad separating member tothe pad locker such that the pad separating member interworks with thepad locker.
 13. The cleaning system according to claim 11, wherein, whenthe push member moves in an opposite direction of a direction in whichthe cleaning pad moves to the pad coupling part, the slider presses theslider link.
 14. The cleaning system according to claim 11, wherein theseparating and supplying device further comprises a separating elasticmember to apply an elastic force to the pad separating member in adirection in which the pad separating member releases the supporting onthe remaining cleaning pad except for the cleaning pad moved to the pushposition among the plurality of cleaning pads.
 15. The cleaning systemaccording to claim 8, wherein at both ends of the cleaning pad, a padsupport extends in a direction in which the plurality of cleaning padsare stacked in the pad storage box.
 16. A robot cleaner comprising: apad fixing part on which a cleaning pad is detachably mounted; a lifterto lift a part of the robot cleaner at which the pad fixing part ispositioned; a pad detacher to detach the cleaning pad mounted on the padfixing part; a cleaner driver to drive the pad detacher; and at leastone processor configured to control the robot cleaner.
 17. The robotcleaner according to claim 16, wherein each of the pad fixing part andthe cleaning pad comprises a magnetic body.
 18. The robot cleaneraccording to claim 16, wherein the lifter is driven by the cleanerdriver, and wherein the cleaner driver includes a link actuator totransfer power to the lifter and the pad detacher.
 19. A stationcomprising: a pad storage box in which a plurality of cleaning pads arestored; a pad coupling part on which a cleaning pad that is to becoupled to a robot cleaner is rested; a pad supplier to move a cleaningpad among the plurality of cleaning pads stored in the pad storage boxto the pad coupling part; and a station driver to drive the padsupplier, the station driver comprising: a station driving source, and aconnection member to transfer power generated by the station drivingsource to the pad supplier.
 20. The station according to claim 19,wherein at both ends of each of the plurality of cleaning pads stored inthe pad storage box, a pad support extends in a direction in which theplurality of cleaning pads are stacked in the pad storage box.